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Torque Control of a Water Hydraulic Vane Actuator Using Pressure Feedback

[+] Author Affiliations
Albert Raneda, Mikko Siuko, Tapio Virvalo

Tampere University of Technology, Tampere, Finland

Paper No. IMECE2002-39348, pp. 133-140; 8 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Fluid Power Systems and Technology
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Fluid Power Systems and Technology Division
  • ISBN: 0-7918-3631-2 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


In this paper the torque control properties of a water hydraulic rotary actuator are theoretically and experimentally studied and the results are analyzed and compared with oil hydraulics. If the same performance levels can be achieved with water and oil hydraulics, water as the pressure medium is preferred in applications where external oil leakage is not allowed or applications that take place in fire hazardous environments. The analysis carried out in this paper uses a linear model of the hydraulic drive which is first verified against experimental tests. The linear model allows to study the effect of valve saturation and the effect of using pressure transducers for torque feedback in torque control applications. Two torque control cases are studied: torque control with the boom end in a fixed location and boom end free to move with desired torque set to zero (backdrivable system). Experimental results are presented and compared with simulated results. Results show that in torque control applications, the use of water as the pressure medium does not cause any special control problems and a similar performance than with oil is obtained. Also, pressure sensors can be used for providing torque feedback without causing significant problems.

Copyright © 2002 by ASME



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